Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery

Ali Ebrahimi; Shahriar Sefati; Peter GehlbachRussell H. TaylorIulian I. Iordachita

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Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery

机译：Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery

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摘要

Notable challenges during retinal surgery lend themselves to robotic assistance, which has proven beneficial in providing safe steady-hand manipulation. Efficient assistance from the robots heavily relies on accurate sensing of surgery states (e.g., instrument tip localization and tool-to-tissue interaction forces). Many of the existing tool tip localization methods require preoperative frame registrations or instrument calibrations. In this study, using an iterative approach and by combining vision and force-based methods, we develop calibration- and registration-independent (RI) algorithms to provide online estimates of instrument stiffness (least squares and adaptive). The estimations are then combined with a state-space model based on the forward kinematics of the steady-hand eye robot and fiber Bragg grating sensor measurements. This is accomplished using a Kalman filtering approach to improve the deflected instrument tip position estimations during robot-assisted eye surgery. The conducted experiments demonstrate that when the online RI stiffness estimations are used, the instrument tip localization results surpass those obtained from preoperative offline calibrations for stiffness.

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《IEEE Transactions on Robotics: A publication of the IEEE Robotics and Automation Society》 |2023年第2期|1373-1387|共15页
作者
Ali Ebrahimi; Shahriar Sefati; Peter GehlbachRussell H. TaylorIulian I. Iordachita;
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作者单位

Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD, USA;

Wilmer Eye Institute, Johns Hopkins Hospital, Baltimore, MD, USA;

Department of Mechanical Engineering, Laboratory for Computational Sensing and Robotics, and the Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA;

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原文格式 PDF
正文语种英语
中图分类机器人技术;
关键词
Instruments; Robot sensing systems; Estimation; Surgery; Robot kinematics; Needles; Shafts;

Simultaneous Online Registration-Independent Stiffness Identification and Tip Localization of Surgical Instruments in Robot-Assisted Eye Surgery

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